Determining trajectories of redundant actuators jointly tracking reference trajectory
US9170580B2 · kind B2 · utility
1Cited by
3References
13Claims
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Key dates
| Filing date | Oct 19, 2012 |
| Grant date | Oct 27, 2015 |
| Priority date | — |
| Expiry date | Jan 11, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50218
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method determines trajectories of redundant actuators of a machine including a first actuator and a second actuator. The method determines a first trajectory of the first actuator tracking a reference trajectory with an error tolerance, wherein the error tolerance is a function of a constraint of the second actuator, and determines a second trajectory of the second actuator based on a difference between the reference trajectory and the first trajectory.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.